This is such a good deep dive into our paper, which I will be pointing people to in the future. Thanks for writing it!
Agree that conditioning on the intervention is unnatural for agents. One way around this is to note that adapting to an unknown distributional shift given only sensory inputs Pa_D is strictly harder than adapting to a known distributional shift (given Pa_D and sigma). It follows that any agent capable of adapting given only its sensory inputs must have learned a CWM (footnotes, p6).
This is such a good deep dive into our paper, which I will be pointing people to in the future. Thanks for writing it!
Agree that conditioning on the intervention is unnatural for agents. One way around this is to note that adapting to an unknown distributional shift given only sensory inputs Pa_D is strictly harder than adapting to a known distributional shift (given Pa_D and sigma). It follows that any agent capable of adapting given only its sensory inputs must have learned a CWM (footnotes, p6).